contributor author | Lefebvre, Tom | |
contributor author | De Witte, Sander | |
contributor author | Neve, Thomas | |
contributor author | Crevecoeur, Guillaume | |
date accessioned | 2023-11-29T19:50:43Z | |
date available | 2023-11-29T19:50:43Z | |
date copyright | 4/26/2023 12:00:00 AM | |
date issued | 4/26/2023 12:00:00 AM | |
date issued | 2023-04-26 | |
identifier issn | 0022-0434 | |
identifier other | ds_145_06_061001.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4295066 | |
description abstract | In this work, we show that the differential kinematics of slider–pusher systems are differentially flat assuming quasi-static behavior and frictionless contact. Second, we demonstrate that the state trajectories are invariant to time-differential transformations of the path parametrizing coordinate. For one this property allows to impose arbitrary velocity profiles on the slider without impacting the geometry of the state trajectory. This property implies that certain path planning problems may be decomposed approximately into a strictly geometric path planning and an auxiliary throughput speed optimization problem. Building on these insights, we elaborate a numerical approach tailored to constrained time optimal collision free path planning and apply it to the slider–pusher system. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Differential Flatness of Slider–Pusher Systems for Constrained Time Optimal Collision Free Path Planning | |
type | Journal Paper | |
journal volume | 145 | |
journal issue | 6 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.4062247 | |
journal fristpage | 61001-1 | |
journal lastpage | 61001-13 | |
page | 13 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2023:;volume( 145 ):;issue: 006 | |
contenttype | Fulltext | |